Code

Forward trajectory controller#944

Code

Merged

urfeex merged 58 commits intoUniversalRobots:mainUniversalRobots/Universal_Robots_ROS2_Driver:mainfrom URJala:forward_controllerURJala/Universal_Robots_ROS2_Driver:forward_controllerCopy head branch name to clipboardNov 11, 2024

+1,758-45

Commits

Commits on Sep 3, 2024

• Started work on forward position controller

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• Controller is now able to run and read from speed_scale

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• Communication between robot and passthrough controller is now functional.

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• Controller will now send over all received points, before sending them to the robot.

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• Created more examples for the use of the controller. Controller now supports passing through accelerations and velocities.

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• Finished the passthrough controller

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• Added passthrough controller to "initially loaded controller" options.

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• Fix test_common

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• Move functionality to update method

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Commits on Sep 18, 2024

• Removing examples from this PR

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• Implemented some realtime boxes

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Commits on Sep 25, 2024

• Merge remote-tracking branch 'origin/main' into forward_controller

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• Updated to latest ControllerInterface API

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• Rename controller's action topic to match the JTC

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• Remove duplicate controller entry

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Commits on Sep 26, 2024

• Rename controller action in tests

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Commits on Sep 27, 2024

• Use generate_parameters_library for joints and state interfaces

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• Use constants for transfer state in controller

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• Use period directly instead of calculating it by hand

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• Change some stdout strings

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• Remove unnecessary check

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• Remove an unnecessary comment

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• Do not require a controller active state inteface

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Commits on Sep 30, 2024

• Make action handling realtime-thread-safe

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• Fix tolerances handling

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• String formatting

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• Remove unused interfaces

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Commits on Oct 1, 2024

• Deactivate goal time check for now since ros2_control can report wrong periods

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• Simplify joint state configuration

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Commits on Oct 2, 2024

• Make controller robust against joint ordering

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• Make default config reflect the actual parameters

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• Fix tolerance handling

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• Merge remote-tracking branch 'origin/main' into forward_controller

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• REVERT_ME: use fixed ros2_control until merged

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• Make sure the abort state is reset when sending new trajectories

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Commits on Oct 3, 2024

• Restructure command interface exporting

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• REVERT_ME: Use passthrough branch of description

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• Add documentation for the passthrough controller

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• Store command interface instead of using indices

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• Correctly handle preemptions

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• Correctly abort and act on deactivate

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• Update documentation

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• Improve result representation in example_move script

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• Merge upstream main

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Commits on Oct 14, 2024

• Re-Restructure command interface exporting

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• Revert "REVERT_ME: Use passthrough branch of description"

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Commits on Oct 16, 2024

• Merge remote-tracking branch 'origin/main' into forward_controller

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• Fix command interface names

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• Check passthrough trajectory controller from write function

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Commits on Oct 23, 2024

• Merge remote-tracking branch 'origin/main' into forward_controller

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Commits on Oct 26, 2024

• Apply suggestions from code review

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• Add more docs

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• Improve duration output

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Commits on Nov 6, 2024

• Revert "REVERT_ME: use fixed ros2_control until merged"

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Commits on Nov 7, 2024

• Fix if statement for claimed interfaces

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Commits on Nov 11, 2024

• Fix interface compatibility check in prepare_switch (with tests)

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• Merge remote-tracking branch 'origin/main' into forward_controller

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• Remove superflous line

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